Cityscape to Mapillary.
Second, we examine performance in autonomous driving scenes. Detectors are trained on Cityscape [1]} (8 foreground classes, person, rider, car, truck, bus, train, motorcycle, and bicycle) and tested on the validation set of Mapillary Vistas [2]} with 35 foreground classes including not only vehicles, but also animals, trash can, mailbox, and so on.
